Optic Plan Solver

Plan solver for ROS2 Planning System that uses OPTIC for solving PDDL plans.

Dependencies

Download and compile OPTIC, for more information visit OPTIC Homepage.

To execute OPTIC from any path you must create the following symbolic link where "optic_path" is the path where your executable is located.

ln -s optic_path optic

Clone ROS2 Planning System in your ROS2 workspace. For more information plansys2.

Installation

Clone this repository in your ROS2 workspace

git clone https://github.com/jmrtzma/plansys2_optic_plan_solver

Add to file ros2_planning_system/plansys2_bringup/params/plansys2_params.yaml the OPTIC plugin like this

planner:
  ros__parameters:
    plan_solver_plugins: ["OPTIC"]
    POPF:
      plugin: "plansys2/POPFPlanSolver"
    TFD:
      plugin: "plansys2::TFDPlanSolver"
    OPTIC:
      plugin: "plansys2/OPTICPlanSolver"

PDDL Support

Requirements	Supported?
PDDL 1.2
:strips	Yes
:typing	Yes
:disjunctive-preconditions	No
:equality	Yes
:existential-preconditions	No
:universal-preconditions	Yes
:conditional-effects	No
:domain-axioms	No
:subgoals-through-axioms	No
:safety-constraints	No
:open-world	No
:quantified-preconditions	No
:adl	No
:ucpop	No
PDDL 2.1
:numeric-fluents	Yes
:durative-actions	Yes
:duration-inequalities	Yes
:continuous-effects	Yes
:negative-preconditions	No
PDDL 2.2
:derived-predicates	No
:timed-initial-literals	Yes
PDDL 3
:constraints	Yes
:preferences	Yes
PDDL 3.1
:action-costs	Yes
:goal-utilities	No
PDDL+
:time	No

Contributors

• Carlos Caminero Abad @Carlosalpha1
• Paula Martínez Pérez @paulamartinezperez
• María Marcos Hidalgo @mariamhidalgo
• Javier Martínez Madruga @jmrtzma